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Consensus for nonlinear multi-agent systems with actuator saturation by adaptive event-triggered scheme.

Jing Xu1, Jun Huang1, Yueyuan Zhang1

  • 1School of Mechanical and Electrical Engineering, Soochow University, Suzhou 215131, China.

ISA Transactions
|May 5, 2024
PubMed
Summary

This study addresses leader-follower consensus in nonlinear multi-agent systems with actuator saturation using an adaptive event-triggered scheme. It introduces novel methods to reduce control design conservatism for improved system performance.

Keywords:
Actuator saturationAdaptive event-triggered mechanismIncremental quadratic constraintsMulti-agent systems

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Area of Science:

  • Control Systems Engineering
  • Robotics
  • Networked Systems

Background:

  • Multi-agent systems (MAS) face challenges in achieving consensus due to nonlinear dynamics and actuator saturation.
  • Existing event-triggered control strategies often use fixed parameters, limiting adaptability.
  • Actuator saturation significantly impacts system stability and performance in MAS.

Purpose of the Study:

  • To investigate the leader-follower consensus problem for nonlinear MAS with actuator saturation.
  • To develop an adaptive event-triggered control scheme that adjusts parameters dynamically.
  • To propose and compare two distinct methods for handling actuator saturation.

Main Methods:

  • An adaptive event-triggered mechanism with automatically adjusting parameters.
  • Two saturation handling approaches: sector-bounded conditions and convex hull representation.
  • Utilizing incremental quadratic limitations for nonlinear function characterization.

Main Results:

  • The convex hull representation method effectively reduces the conservatism of controller design compared to sector-bounded conditions.
  • The adaptive mechanism enhances the robustness of the consensus protocol under actuator saturation.
  • Demonstrated the validity of the proposed approaches through a numerical example in mechanical systems.

Conclusions:

  • The proposed adaptive event-triggered scheme effectively solves the leader-follower consensus problem for nonlinear MAS with actuator saturation.
  • The convex hull approach offers a less conservative alternative for controller design in saturated systems.
  • The findings provide a foundation for more advanced control strategies in complex multi-agent applications.